Parallel Detection Fusion for Multisensor Tracking of a Maneuvering Target in Clutter Using IMMPDA Filtering

摘要

We present a (suboptimal) filtering algorithm for tracking a highly maneuvering target in a cluttered environment using multiple sensors. The filtering algorithm is developed by applying the basic Interacting Multiple Model (IMM) approach and the Probabilistic Data Association (PDA) technique to a two sensor (radar and infrared, for instance) problem for state estimation for the target. A detection fusion approach is followed where the raw sensor measurements are passed to a fusion node and fed directly to the target tracker. A multisensor probabilistic data association filter is developed for parallel sensor processing for target tracking under clutter. A past approach using parallel sensor processing has ignored certain data association probabilities leading to an erroneous derivation. Another existing approach applies only to non-maneuvering targets. The algorithm is illustrated via a highly maneuvering target tracking simulation example where two sensors, a radar and an infrared sensor, are used. Compared with an existing IMMPDA filtering algorithm with sequential sensor processing, the proposed algorithm achieves significant improvement in the accuracy of track estimation.